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/**
 * @file Quaternion.hpp
 *
 * math quaternion lib
 */

//#pragma once

#include "Vector.hpp"
#include "Matrix.hpp"

namespace math
{

class Dcm;
class EulerAngles;

class __EXPORT Quaternion : public Vector
{
public:

	/**
	 * default ctor
	 */
	Quaternion();

	/**
	 * ctor from floats
	 */
	Quaternion(float a, float b, float c, float d);

	/**
	 * ctor from data
	 */
	Quaternion(const float *data);

	/**
	 * ctor from Vector
	 */
	Quaternion(const Vector &v);

	/**
	 * ctor from EulerAngles
	 */
	Quaternion(const EulerAngles &euler);

	/**
	 * ctor from Dcm
	 */
	Quaternion(const Dcm &dcm);

	/**
	 * deep copy ctor
	 */
	Quaternion(const Quaternion &right);

	/**
	 * dtor
	 */
	virtual ~Quaternion();

	/**
	 * derivative
	 */
	Vector derivative(const Vector &w);

	/**
	 * accessors
	 */
	void setA(float a) { (*this)(0) = a; }
	void setB(float b) { (*this)(1) = b; }
	void setC(float c) { (*this)(2) = c; }
	void setD(float d) { (*this)(3) = d; }
	const float &getA() const { return (*this)(0); }
	const float &getB() const { return (*this)(1); }
	const float &getC() const { return (*this)(2); }
	const float &getD() const { return (*this)(3); }
};

int __EXPORT quaternionTest();
} // math